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Removed base class so python wrapper compiles

release/4.3a0
dellaert 2016-06-04 17:52:10 -07:00
parent facab116ce
commit cdf9c53b96
1 changed files with 6 additions and 11 deletions
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17
python/handwritten/navigation/ImuFactor.cpp
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@ -34,7 +34,7 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(attitude_overloads, attitude, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(position_overloads, position, 0, 1) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(position_overloads, position, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(velocity_overloads, velocity, 0, 1) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(velocity_overloads, velocity, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PreintegratedImuMeasurements::equals, 1, 2) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PreintegratedImuMeasurements::equals, 1, 2)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(predict_overloads, PreintegrationBase::predict, 2, 4) BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(predict_overloads, PreintegratedImuMeasurements::predict, 2, 4)
void exportImuFactor() { void exportImuFactor() {
class_<OptionalJacobian39>("OptionalJacobian39", init<>()); class_<OptionalJacobian39>("OptionalJacobian39", init<>());
@ -80,18 +80,13 @@ void exportImuFactor() {
// NOTE(frank): https://mail.python.org/pipermail/cplusplus-sig/2016-January/017362.html // NOTE(frank): https://mail.python.org/pipermail/cplusplus-sig/2016-January/017362.html
register_ptr_to_python< boost::shared_ptr<PreintegrationParams> >(); register_ptr_to_python< boost::shared_ptr<PreintegrationParams> >();
class_<PreintegrationBase>( class_<PreintegratedImuMeasurements>("PreintegratedImuMeasurements",
"PreintegrationBase",
init<const boost::shared_ptr<PreintegrationParams>&, const imuBias::ConstantBias&>())
.def("predict", &PreintegrationBase::predict, predict_overloads())
.def("computeError", &PreintegrationBase::computeError)
.def("resetIntegration", &PreintegrationBase::resetIntegration)
.def("deltaTij", &PreintegrationBase::deltaTij);
class_<PreintegratedImuMeasurements, bases<PreintegrationBase>>(
"PreintegratedImuMeasurements",
init<const boost::shared_ptr<PreintegrationParams>&, const imuBias::ConstantBias&>()) init<const boost::shared_ptr<PreintegrationParams>&, const imuBias::ConstantBias&>())
.def(repr(self)) .def(repr(self))
.def("predict", &PreintegratedImuMeasurements::predict, predict_overloads())
.def("computeError", &PreintegratedImuMeasurements::computeError)
.def("resetIntegration", &PreintegratedImuMeasurements::resetIntegration)
.def("deltaTij", &PreintegratedImuMeasurements::deltaTij)
.def("equals", &PreintegratedImuMeasurements::equals, equals_overloads(args("other", "tol"))) .def("equals", &PreintegratedImuMeasurements::equals, equals_overloads(args("other", "tol")))
.def("integrateMeasurement", &PreintegratedImuMeasurements::integrateMeasurement) .def("integrateMeasurement", &PreintegratedImuMeasurements::integrateMeasurement)
.def("integrateMeasurements", &PreintegratedImuMeasurements::integrateMeasurements) .def("integrateMeasurements", &PreintegratedImuMeasurements::integrateMeasurements)